System and method for expansion of field of view in a vision system

ABSTRACT

This invention provides a system and method for expanding the field of view of a vision system camera assembly such that the field of view is generally free of loss of normal resolution across the entire expanded field. A field of view expander includes outer mirrors that receive light from different portions of a scene. The outer mirrors direct light to tilted inner mirrors of a beam splitter that directs the light aligned with a camera axis to avoid image distortion. The inner mirrors each direct the light from each outer mirror into a strip on the sensor, and the system searches features. The adjacent fields of view include overlap regions sized and arranged to ensure a centralized feature appears fully in at least one strip. Alternatively, a moving mirror changes position between acquired image frames so that a full width of the scene is imaged in successive frames.

FIELD OF THE INVENTION

This invention relates to vision systems, and more particularly tosystems and methods for expanding the field of view of a vision systemcamera lens.

BACKGROUND OF THE INVENTION

Vision systems that perform measurement, inspection, alignment ofobjects and/or decoding of symbology (e.g. bar codes—also termed “IDs”)are used in a wide range of applications and industries. These systemsare based around the use of an image sensor, which acquires images(typically grayscale or color, and in one, two or three dimensions) ofthe subject or object, and processes these acquired images using anon-board or interconnected vision system processor. The processorgenerally includes both processing hardware and non-transitorycomputer-readable program instructions that perform one or more visionsystem processes to generate a desired output based upon the image'sprocessed information. This image information is typically providedwithin an array of image pixels each having various colors and/orintensities. In the example of an ID reader (also termed herein, a“camera”), the user or automated process acquires an image of an objectthat is believed to contain one or more barcodes. The image is processedto identify barcode features, which are then decoded by a decodingprocess and/or processor obtain the inherent alphanumeric datarepresented by the code.

A common use for ID readers is to track and sort objects moving along aline (e.g. a conveyor) in manufacturing and logistics operations. The IDreader can be positioned over the line at an appropriate viewing angleto acquire any expected IDs on respective objects as they each movethrough the field of view. The focal distance of the reader with respectto the object can vary, depending on the placement of the reader withrespect to the line and the size of the object. That is, a larger objectmay cause IDs thereon to be located closer to the reader, while asmaller/flatter object may contain IDs that are further from the reader.In each case, the ID should appear with sufficient resolution to beproperly imaged and decoded. Thus, the field of view of a single reader,particularly in with widthwise direction (perpendicular to line motion)is often limited. Where an object and/or the line is relatively wide,the lens and sensor of a single ID reader may not have sufficient fieldof view in the widthwise direction to cover the entire width of the linewhile maintaining needed resolution for accurate imaging and decoding ofIDs. Failure to image the full width can cause the reader to miss IDsthat are outside of the field of view.

There are several techniques that can be employed to overcome thelimitation in field of view of a single ID reader, and expand thesystems overall field of view in the widthwise direction. For example,one can employ multiple ID readers/cameras focused side by side to fullycover the width of the line. This is often an expensive solution as itrequires additional hardware and optics. Alternatively, a line-scansystem with inherently wider FOV can be employed. However, thisarrangement can also increase costs as it requires more specializedhardware and generally increases complexity. For example, an encoder isoften needed to sense relative movement of the line when using aline-scan arrangement. Another technique is to employ a larger sensor,in the single ID reader to provide the desired resolution forappropriately imaging the scene along the widthwise direction. However,the approach again entails additional cost through the use ofless-conventional hardware. Moreover, most sensors (e.g. CMOS sensors,but other types, such as CCD, are also contemplated) are commerciallyavailable in a standard format, such as 4×3 or 16×9, and thus, providinga larger widthwise resolution also entails a similarly enlarged height(i.e. the direction of line motion) resolution. The increased heightdirection may cause the sensor to capture the same ID in a plurality ofcaptured image frames as the object passes through the enlarged field ofview. This, in turn leads to extraneous processing and/or decoding ofthe same ID and the risk that a single object is mistaken for aplurality of objects passing under the reader.

It is therefore desirable to provide a system and method for expandingthe field of view of an ID reader in the widthwise direction withrespect to a moving line in a manner that does not decrease neededresolution. It is further desirable that the system and method allow useof a conventional sensor and camera optics. The system and method shouldbe straightforward to install and use and should desirably avoidincreasing resolution in the height/line-motion direction.

SUMMARY OF THE INVENTION

This invention overcomes disadvantages of the prior art by providing asystem and method for expanding the field of view of a vision systemcamera assembly that can be employed as an ID reader such that the fieldof view is generally free of loss of normal resolution of a cameraassembly sensor, and ensures that features of interest, such as IDs, arefully imaged across the entire expanded field. In an embodiment a fieldof view expander (FOVE) includes outer mirrors directed to receive lightfrom different widthwise portions of a scene, which can be a moving lineof objects. The outer mirrors thereafter direct the light to associatedvertically tilted inner mirrors of a beam splitter that, in turn, directthe light through an aperture in the FOVE substantially in alignmentalong an optical axis of the camera to avoid distortion of images. Theinner mirrors direct the light from each outer mirror into a discretestrip on the sensor, with one strip stacked above the other, and thevision system searches for and analyzes the overall image for features.The fields of view defined by the mirrors include widthwise overlapregions sized and arranged to ensure a centralized feature appears fullyin at least one strip. In alternate embodiments, a moving mirror changesposition between acquired image frames so that a full width of the sceneis imaged in successive frames.

In an illustrative embodiment, a system and method system for expandinga field of view of a scene imaged by a vision system camera is provided.The camera includes an image sensor, and the system is generallyconstructed and arranged to search and analyze features of interest inthe scene using, for example a vision system process and vision systemapplication that is onboard and/or remotely interconnected to thecamera. This sensor can define a roughly square shape, and can (forexample) define a wherein the M×N pixel resolution of 1024×768 pixels,2048×384 pixels and 2048×768 pixels, among other dimensions. The FOVEprovides a first outer mirror oriented at an acute angle with respect toan optical axis of the camera and a second outer mirror oriented at anopposing acute angle with respect to an opposing side of the opticalaxis. A beam splitter is located forward of the first outer mirror andthe second outer mirror in a direction taken from the vision systemcamera. This beam splitter provides a first reflecting surface and asecond reflecting surface. The first outer mirror and first reflectingsurface are illustratively arranged to direct a first field of view fromthe scene along the optical axis to the sensor. Likewise, the secondouter mirror and second reflecting surface are illustratively arrangedto direct a second field of view from the scene along the optical axisto the sensor. The first field of view is at least in part separatedfrom the second field of view at the scene along a horizontal direction.Additionally, the first outer mirror, the second outer mirror and thebeam splitter are arranged to project each of the first field of viewand the second field of view in a vertically stacked relationship ofstrips at the sensor.

An illustrative search application that receives image data from thesensor locates and analyzes the overall image for features of interestthat can occur in either strip or both strips if the feature is within apredetermined overlap region. This overlap region is illustratively wideenough to fully include in at least one strip, the widest feature to beimaged. In an illustrative embodiment, the features of interest can bebarcodes (for example, one-dimensional type barcodes). These exemplarybarcodes can be oriented to extend (i.e. in the case of aone-dimensional code—the “one” dimension extends) in the direction offield expansion (e.g. the “horizontal” or “widthwise” direction). In anembodiment, the first outer mirror and the second outer mirror arepositioned at offset vertical position. This vertical offset in theouter mirrors corresponds with the vertical positioning of the firstreflecting surface and the second reflecting surface, whichillustratively define crossing mirrors stacked vertically and definingan approximate crossing line passing approximately through the opticalaxis. To direct/project the respective field of view from eachreflecting surface to a strip (or other geometrical arrangement on thesensor, each reflecting surface also includes an opposing slightvertical tilt inwardly and downwardly toward the optical axis. Theobject imaged can be one or more side-by-side objects in relative motionwith respect to the expanded field of view (e.g. objects on a movingconveyor line).

In another embodiment, a system and method for expanding a field of viewof a scene imaged by a camera of a vision system, which includes avision system processor. The processor (and/or other hardware and/orsoftware) causes the camera's sensor to acquire a plurality of imageframes at a predetermined frame rate. A moving mirror projects lightfrom the scene to the camera along the camera's optical axis. The mirroris driven by a drive that operates relative to the frame rate so as tovary an angular orientation of the reflective surface of the mirror withrespect to the optical axis. In this manner, image frames are acquiredusing the moving mirror as it is positioned at each of a plurality ofvarying angular orientations with respect to the optical axis. As such,the acquired image frames collectively image an area in a horizontaldirection that is greater than an area in the horizontal directionimaged in a single one of the image frames. An illustrative searchapplication locates the features of interest in the image frames andoutputs data based on the features of interest. These features ofinterest can be symbology codes, such as one-dimensional barcodes. Themoving mirror can be a rotating polygonal mirror, or an oscillatingmirror, having an axis of rotation taken perpendicular a horizontalplane that passes through the optical axis of the camera, and generallyextends in the (horizontal) direction of field expansion. Theillustrative polygonal mirror presents a plurality of sides, each at aslightly different orientation angle with respect to the axis. The lightreflected from the scene by each angled side is bounded overall by adefined maximum width of field. These bounds can be provided byoutwardly angled side walls positioned on either side of the opticalaxis (i.e. defining an outwardly tapered frustum shape) between themirror and scene. An image is acquired at each orientation of the movingmirror surface. These acquired images collectively allow the searchapplication to locate any features in any of the image frames over theextended width of field. Illustratively, the mirror's movement can besynchronized with the frame rate so that the pattern of orientationssides is constant. Alternatively, the mirror's movement can beasynchronous with respect to the frame rate so that a somewhat randompattern of angular orientations collectively images the entire field ofview.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention description below refers to the accompanying drawings, ofwhich:

FIG. 1 is a perspective view of a vision system including a field ofview expander (FOVE) according to an illustrative embodiment acquiringan image of an exemplary object on a moving line;

FIG. 1A is a side cross section of the vision system and FOVE of FIG. 1;

FIG. 2 is a more detailed perspective view of a mirror arrangement inthe illustrative vision system and FOVE of FIG. 1 with housing andsupport components omitted to depict the relative placement of mirrorstherein;

FIG. 3 is a top view of a mirror arrangement in the illustrative visionsystem and FOVE of FIG. 1 with housing and support components omitted;

FIG. 4 is a top view of a mirror arrangement in the illustrative visionsystem and FOVE of FIG. 1 with housing and support components omittedshowing the relative angles of received light transmitted from anobject, through the FOVE, to the camera;

FIG. 4A is a front view of the mirror arrangement of the FOVE of FIG. 1

FIG. 5 is a depiction of an acquired image of an exemplary objectincluding a pair of exemplary IDs each respectively located within eachdiscrete field of view portion of the illustrative vision system andFOVE of FIG. 1;

FIG. 6 is a diagram of an acquired image of an exemplary objectincluding a discrete exemplary ID located within an overlap regionwithin each discrete field of view portion of the illustrative visionsystem and FOVE of FIG. 1;

FIG. 7 is a diagram of an exemplary sensor divided between an upperstrip that images the right field of view and a lower strip that imagesthe left field of view based upon the division of the field of viewprovided by the illustrative FOVE of FIG. 1;

FIG. 8 is a flow diagram of a process for acquiring and decoding IDsusing a vision system/ID reader including the illustrative FOVE of FIG.1;

FIG. 9 is a top view of an interconnected arrangement of a plurality ofID readers to image a wide field of view each employing an illustrativeFOVE according to an illustrative embodiment;

FIG. 10 is a perspective view of a vision system/ID reader including aFOVE according to an alternate embodiment in which four discrete stripsrelative to the image sensor; and

FIG. 11 is a schematic diagram of a rotating, polygonal mirror used toacquire a plurality of image frames across an expanded field of view.

DETAILED DESCRIPTION

FIG. 1 shows a vision system arrangement 100 in which a vision system orID reader assembly 110 oriented at an acute angle with respect to amoving line represented by a conveyor 112. The vision system 110includes a camera assembly 114 adjustably mounted in a frame 116. Thecamera assembly includes the camera base 118 and a lens 120. A varietyof camera implementations can be employed in alternate embodiments. Inan embodiment, the base 118 includes an internal sensor (describedbelow), having a pixel array for acquiring grayscale of color imagedata. The size of the array is highly variable. For example, the arraycan be a conventional rectangular (roughly square) array having a sizeof 1024×768 pixels. In alternate embodiments, other array sizes,including, but not limited to, 2048×384 or 2048×768 pixels can beemployed. The camera base 118 can include an internal vision processorand ID (barcode) decoding circuit. Alternatively, the camera cantransmit raw image data to a remote, interconnected (wired or wireless)processing device, such as a networked PC. In either arrangement, avision system process 130 locates and resolves IDs, and feeds the datato a decoding process that outputs ID information (block 132). The datacan be transmitted using a wired or wireless connection to a processingdevice and/or a process, such as a label printer, alarm or gating systemthat directs motion of a conveyed object based upon the informationcontained in the ID.

The imaged scene can be illuminated by an acceptable illumination unitor units. As shown, an exemplary illuminator 144 is mounted above thescene using a bracket (not shown) or other mounting arrangement. Theilluminator(s) can be mounted separately from the reader assembly 110 asshown, and/or as an integral part of the assembly (for example as a ringilluminator arranged around the FOVE). The illuminator(s) areoperatively connected to an illumination controller that can betriggered by the ID reader assembly 110 (e.g. the camera base processor)or by another processor (e.g. a PC interface).

The lens 120 can be any acceptable lens type, such as afixed-magnification or variable-magnification (zoom) lens. The lensmount can be a conventional C-mount, F-mount, etc, or a custom mount, ora fixed lens. Alternate lens types, such as liquid lenses can also beemployed. The lens 120 is positioned to receive light from a field ofview expander (FOVE) 140 fixedly mounted with respect to the cameraassembly 114 using an illustrative L-shaped bracket 142 that is thefront part of the frame 116. A variety of frame assemblies can be usedto physically interconnect the camera assembly 114 to the FOVE 140. Infurther embodiments, the FOVE can be integrally attached to the camerabase and/or lens so that is defines an integral unit. The camera andFOVE are mounted using a bracket arrangement (not shown), such as anoverhead bracket, so that the scene is imaged appropriately for thescanning operation. While the camera assembly and FOVE are typicallyfixed as shown, and objects move through the associated field of view,it is expressly contemplated that the objects or subjects can be fixed,and the camera assembly and FOVE can move on an appropriate track orother structure. Thus, as defined broadly herein, the camera assemblywith FOVE and the object(s) are in “relative motion” with respect toeach other.

That object 150 is represented, by way of example, by a box having aplurality of IDs (e.g. one-dimensional barcodes) 152, 154, 156 and 158positioned at discrete locations across the width of the object 150. Theobject 150 moves (double arrow 156) on the conveyor 156 with respect toa field of view 158 generated by the FOVE 140. The field of view 158 isarranged to cover the width FOVW of the conveyor 112 and/or object 150.Likewise, the height FOVH of the field of view is arranged to image thearea of the object expected to contain IDs. While a single objectcrossing the width of the line is shown by way of example, the term“object” can be taken broadly to comprise a plurality of objectsarranged side by side across a width of a line. Likewise an object canbe a longer structure (e.g. a web) having a multiplicity of IDs or otherfeatures of interest therealong.

In various embodiments, it is desirable to define the field of view sothat the height is smaller than the width, and more generally the heightis reduced from that provided in a typical 1024×768 pixel sensor. Inthis manner, any IDs passing into the field of view will reside in aminimal number of image frames, reducing the possibility of a doubleinclusion of the object in the output data. Illustratively, anID-reading application can sometimes be more effectively implemented ifthe sensor defines 2048×384 pixels or 2048×768 (at a lower frame rate)instead of the standard 1024×768. That is, it can be desirable toprovide a sensor that is N times as wide, and illustratively one-Nth astall, as a standard unit. Such an arrangement can be particularly usefulin reading the one-dimensional bar codes 152, 154, 156 and 158 in knownwidthwise orientation across the conveyor 112, as depicted in FIG. 1.Through use of the FOVE according to various embodiments herein a sensorwith roughly square aspect ratio can be modified into a “virtual sensor”which is much wider and possibly narrower (but with the same overallnumber of pixels) so that a wide, but narrow strip across the field ofview is imaged. Based upon the structure and function of the FOVEaccording to various embodiments herein, this strip is imaged in amanner that is free of loss of the resolution per-unit-area of theobject when compared to an unmodified sensor without (free of) the FOVE.

More particularly, and as shown in FIG. 1, the effect of the FOVE 140 ofthe illustrative embodiment is to provide the two depicted fields ofview 160 and 162 that cover the width of the object 150 and/or conveyor112 with a sufficient height to fully image an ID (barcode) within agiven acquired image frame. The overlap region OR is variable andensures that the largest expected feature is within one or both of thedefined fields of view 160, 162. In this example, the size of theoverlap region OR is larger than the largest ID (e.g. center ID 158) sothat this feature is fully imaged.

With further reference to FIG. 1A, the internal structure of the FOVE140 and an exemplary vision system camera assembly 110 is shown in crosssection. The camera base 118 includes a sensor 166 in opticalcommunication with the lens 120 and FOVE 140. The sensor isinterconnected with on-board and/or remote processing components (notshown) as described generally above. The rear panel 167 of the camerabase 118 includes various interface controls and connectors in anillustrative embodiment.

The FOVE 140 in this embodiment consists of an outer shell 168illustratively constructed from an appropriate metal, polymer orcomposite. It can include various ribs (e.g. crossing ribs 169) thatstiffen and lighten the shell 168. A transparent window 170 covers andseals the rear aperture 171 of the shell to allow light to pass into thelens 120. The front end of the shell is covered by a front transparentwindow 172 that is secured by a front bezel 174. The shell encases asupport plate assembly 176 that extends along a bottom side of the shelland includes a reinforced upright plate that surrounds the aperture 171(allowing light to pass therethrough), and is secured to the rear faceof the shell. The support plate assembly 176 supports the mirrorsemployed to expand the field of view in accordance with the illustrativeembodiment.

With further reference to FIGS. 2-4, the placement and function of themirrors is described in further details. The support plate assembly 176secures a pair of opposing outer-extended mirrors 210 and 212 that eachrespectively extend from a position 226 and 218 near each side the rearaperture to a respective side edge of the shell (168 in FIGS. 1 and 1A).Likewise two, vertically stacked, crossing inner mirrors 220 and 222reside on a mount (180 in FIG. 1A) centered about the optical axis OA.Illustratively, the inner mirrors' crossing line 310 (FIG. 3) isarranged along the axis OA. As described below, the mirrors have avertical tilt so the crossing ‘line” is an approximate region that isgenerally/approximately vertical and generally/approximately residesaround the axis OA. Note also, as used herein various directional andorientation terms such as vertical, horizontal, up, down, bottom, top,side, and the like are used only as relative conventions and not asabsolute orientations with respect to a fixed coordinate, such asgravity.

In this embodiment, the outer mirrors 210 and 212 are directed toreceive light from a scene through the front window (172 in FIG. 1A). Inthis embodiment they are each oriented at a respective acute angle AOM1and AOM2 relative to a line (dashed lines 330 and 232 parallel to theaxis OA) in FIG. 3 that generates the desired expanded, overlappingfield of view at a given focal distance FD from the sensor image plane320 (see also FIG. 4). As shown in FIG. 4, the crossing inner mirrors220 and 222 define, in essence a “beam splitter”, which reflects thelight transmitted from the outer mirrors 210 and 212 into an overlappingwedge (frustum) 410 that is aligned with the axis OA of the lens andcamera and substantially perpendicular to the sensor image plane. Thisis desirable in that ensure that light received from each field of viewis relatively free of distortion when it reaches the sensor. That is,light that reaches the sensor at an angle can provide a distorted imagethat is moiré difficult to analyze and decode.

To provide an axially aligned image at the lens and sensor, the crossinginner mirrors 220 and 222 are each oppositely angled with respect to theaxis OA at respective angles ACM1 and ACM2. In an illustrativeembodiment angles AOM1 and AOM2 are in a range of approximately 45 to 75degrees, and typically 68 degrees, while angles ACM1 and ACM2 aretypically in a range of 45 to 75 degrees and typically 68 degrees. Thus,in an embodiment, the crossing inner mirrors of the beam splitter definesubstantially equal opposite angles with respect to the optical axis.Also, in an illustrative embodiment (referring to FIG. 2), outer mirrors210, 212 each have a horizontal length OML of between 40 and 120millimeters, and typically 84 millimeters, and a vertical height OMH ofbetween 20 and 50 millimeters, and typically 33 millimeters. Likewise,the crossing inner mirrors 220, 222 illustratively have a horizontallength CML of between 30 and 60 millimeters, and typically 53millimeters, and a vertical height CMH of between 10 and 25 millimeters,and typically 21 millimeters. The overall horizontal span OMS of theouter mirrors 210, 212 (referring to FIG. 3) is approximately 235millimeters in an illustrative embodiment, and the spacing MS betweeneach respective outer and associated inner mirror surface (i.e. 210 and220; 212 and 222) is approximately 100 millimeters. Based upon theforgoing measurements and with appropriate focus adjustment in aselected camera lens 120, an overall expanded field of view FOVW ofapproximately 381 millimeters (15 inches) can be achieved at a focaldistance FD of approximately 700 millimeters.

While the foregoing angles and dimensions are provided in anillustrative embodiment, these are only exemplary and a wider ornarrower field of view that can be achieved. Likewise the measurementscan be varied in accordance with skill in the art to achieve similarresults and can be either symmetrical (e.g. equal opposing angles and/orequal dimensions) with respect to the axis OA or asymmetrical (e.g.unequal opposing angles and/or unequal dimensions). For example the sizeof any mirror can be increased or decreased and their angles withrespect to the axis OA can be varied as appropriate. Additionally, themirrors can be constructed from any acceptable specular material thatproduces the desired optical effect. For example, a silvered glassmirror or an equivalent polymer can be employed. Other specularmaterials, such as highly polished or coated metals can be used incertain embodiments.

With reference also to the front view of FIG. 4, the outer mirrors 210and 212 are positioned at a vertical offset with respect to each other,and relative to the overall height of the shell (See FIG. 1A). In thismanner, each outer mirror 210, 212 is aligned more vertically with itsassociated inner mirror, 220, 222. In an illustrative embodiment theoffset distance ODM between the bottom edge 430 of the higher outermirror 210 and the upper edge 432 of the lower outer mirror 212 isapproximately 16 millimeters. This dimension can be varied in alternateembodiments depending, in part on the overall height of the outermirrors and FOVE shell.

With reference again to FIG. 1A, the upper inner mirror 220 defines atilt off the vertical (i.e. a vertical that is perpendicular to the axisOA shown by dashed line 180) that orients this mirror 220 tilt slightlydownwardly and inwardly relative to the axis OA. The tilt is representedby an acute (slightly non-perpendicular) angle ATM1 which isapproximately 88 degrees (and more particularly 87.9 degree) in anillustrative embodiment. Likewise, the lower inner mirror 222 tiltsslightly inwardly and downwardly by an opposing angle ATM2 ofapproximately is approximately 88 degrees (and more particularly 87.9degrees) with respect to the axis OA in an illustrative embodiment. Theoverall geometry of the mirrors resolves the two side-by-sideoverlapping fields of view into a pair of slightly overlapping, stripsthat are received by the lens and sensor as a stacked pair of views. Asdescribed above the stacked images are substantially axially alignedwith the optical axis OA along the horizontal plane, and slightly angledwith respect to the vertical plane (due to the tilt of the crossingmirrors) resulting in a relatively distortion-free image.

In an illustrative embodiment, the mirror arrangement of the FOVE, inaccordance with the exemplary geometry and dimensions described above,is generally rotationally symmetric with respect to the optical axis OA.

Reference is now made to FIGS. 5-7, which show the resulting imagereceived by the sensor based upon the optical arrangement of the FOVEaccording to the illustrative embodiment. As shown in FIG. 5, theresulting image 500, in which the overall width of the field of view isrepresented by a ruler 510 includes a top portion 520 that constitutesthe right side (with ruler inch-gradations 1-9) and a bottom portionthat constitutes the left side (with ruler inch gradations 6-14). Anarrow blended horizontal dividing line (in the region of dashed line540) is depicted between the image strips 520 and 530. This is a smallregion of optical overlap along the vertical direction that can vary insize based in part upon the degree of vertical tilt of the crossingmirrors 220, 222. As shown, the upper image strip 520 includes an ID 550within its full field of view. Likewise, the lower image strip 530 alsoincludes a separate ID 552 within its full field of view. Both IDsprovided across a wide field of view have been effectively imaged andthe overall height dimension has been reduced to minimize excessinformation in the height direction while still providing sufficientspace to fully image the ID. As described above, this narrowed heightserves to reduce the number of image frames that can capture the sameID, thereby reducing the risk of double readings of the same object.

The horizontal overlap is represented by the occurrence of inchgradations 6-9 in both the upper and lower image strips 520 and 530,respectively. This distance (about 3-4 inches) is sufficient to ensurethat a centered ID of a certain size (e.g. 2-3 inches) is fully capturedin at least one of the image strips 520, 530. An example of a centeredID 610 residing in the overlap region of each strip is shown in thediagram 600 of FIG. 6. This ID 610 is positioned similarly to the ID 158in FIG. 1. In the diagram of FIG. 6, the ID 610 occurs in the left handoverlap region 622 of the upper strip 620. Likewise, in the lower strip632, the centered ID 610 occurs in the right hand overlap region 632. Asdescribed, this region ensures that an ID will fall fully into at leastone of the two strips so as to ensure positive identification by thevision system.

Briefly, FIG. 7 shows a conventional camera sensor 166 as describedabove. The transmitted light from the FOVE reaches the sensor, throughthe lens so as to define the depicted upper strip 710 and lower strip720, in which the right side is radiated on the upper strip to becaptured by its respective pixels, while the left field is radiated ontothe lower strip to be captured on its respective pixels. A relativelynarrow vertical overlap band can be defined at the strip boundary 730,where both the left and right fields are deposited. This information canbe discarded by the vision system process. Alternatively, the optics ofthe mirrors can be arranged to define a dark band over a few rows ofpixels to avoid confusion. More generally, the FOVE allows a sensor withan M (width)×N (height) pixel array to operate as a narrower 2M×N/2sensor with no loss of resolution within the imaged area.

Reference is now made to FIG. 8 that describes a basic procedure 800 forlocating and decoding IDs (or other features of interest) across anexpanded width using a vision system with an FOVE according to anillustrative embodiment. In each image frame (depending upon the cameraframe rate), the system acquires an image frame, which includes an upperstrip and a lower strip (step 810). While not shown, image acquisitioncan be triggered based upon a presence sensor (e.g. a photodetector,line encoder or vision-system based detector) that senses and/orcomputes when an object comes into the field of view of the visionsystem. At such time the system begins acquiring image frames of theobject. Each acquired image is then passed to an ID feature search andanalysis process 820. This process searches the whole image withoutregard to its stripped nature for any ID-like features and returnslikely candidates for further processing, until features with reasonablyhigh confidence are provided for decoding in a further process. The IDfeature search/analysis and decoding application(s) (i.e. softwareconsisting of a non-transitory computer-readable medium of programinstructions and/or hardware) to which the image data is directed can beany acceptable ID feature search, analysis and/or decoding application.The search for ID candidates can also be handled by a separate processor processor from decoding (which can be handled by a decoding DSP).Notably, because of the appropriately sized field of view with overlapregion, the image can be processed free of any need to “stitch together”portions of it so as to provide a complete ID. Rather, a complete ID isexpected to reside in some portion of the overall image and can belocated by directly searching the image.

A variety of commercially available software and/or hardware systems canbe employed to search analyze and decode IDs and other features ofinterest in an image frame as described herein. For example, suchsystems are available from Cognex Corporation of Natick, Mass.

Further in the procedure 800 if no IDs are located in the acquired imageframe by the search process 820, then the overall procedure 800 returnsvia decision step 830 to await the next acquired image frame in step810. Conversely if any IDs are located in the image frame, then thedecision step 830 branches to perform further process. An optionaldecision step 840 can determine whether the same ID exists (completely)in both the upper and lower overlap region. If so, it can filter thedata to pass only one instance of the ID to speed processing (step 850).

Once ID data has been located and passed to further processing (that canbe performed by downstream hardware and/or applications), the procedure800 can branch back to step 810 to await the next set of image data forsearch and analysis (branch). Optionally, as indicated by dashed lines854 and 856, branching back to step 810 can occur later in the process.

After providing ID data, the procedure 800 then decodes the located IDsusing conventional or customized processes in step 860. The decoded datais then output to be stored and/or used by further processes in step870.

In certain applications, it can be desirable to increase the width ofthe field of view even further without loss of resolution within theimaged area. As shown in FIG. 9, an arrangement 900 allows a wide line910 to be imaged free of loss of resolution within the imaged area. Inthis embodiment, two vision system camera assemblies 920 and 922 areprovided in a side-by-side arrangement at an appropriate widthwisespacing CWS between respective optical axes OA1 and OA2. Each cameraassembly 920, 922 includes a respective FOVE 930, 932, which can beconstructed and arranged in accordance with the embodiment of FIGS. 1-4Adescribed above. Each camera assembly 920, 922 and respective FOVE 930,932 is mounted on an appropriate bracket assembly (not shown). The FOVE930 defines a widened overall field of view with a left field 940 and aright field 942, which appears on the camera sensor as a pair of stackedstrips as described above. The two fields 940, 942 include an overlapregion OR1 sized to ensure inclusion of the largest feature of interesttherein. Likewise the adjacent FOVE 932 defines a widened overall fieldof view with a left field 950 and a right field 952, which appears onthe camera sensor as a pair of stacked strips as described above. Thetwo fields 950, 952 also include an overlap region OR2 that is sized toensure inclusion of the largest feature of interest therein. The spacingCWS between cameras 920, 922 is chosen to generate a third overlapregion OR3 that is sized and arranged to ensure that the largest featureof interest resides fully within at least one adjacent field of view942, 950 of a respective camera 920, 922.

There are a variety of techniques for searching and analyzing thereceived image data of the two cameras. In general a procedure 800 canbe carried out within the processor associated with (or operativelyconnected with) one of the cameras using a master-slave interconnection970 between cameras (commercially available on a variety of cameraunits, such as certain units manufactured by (Cognex Corporation). Insuch an arrangement, acquisition of concurrent image frames in both themaster (M) and slave (S) cameras is triggered by the master (camera 920herein designated M) and handling of image data is controlled by themaster. In other arrangements, both the processors of the master and theslave can operate to locate and analyze IDs or other features ofinterest. One or both of the cameras are used to output resulting data(block 980) as described above.

In another embodiment, a wider field of view than that obtained with theFOVE of FIGS. 1-4A can be achieved using a single camera assembly 1010in the arrangement 1000 of FIG. 10. As shown, the FOVE 1020 (with shellremoved for clarity) includes four discrete outer mirrors, with twopositioned on each side of the optical axis OA1A 1030, 1032 and 1034,1036. Each mirror is oriented at a discrete angle with respect to theoptical axis, with the outermost mirror pair 1030 and 1034 having asmaller angle than the innermost mirror pair 1032 and 1036. The relativeangles of each of the outers mirrors 1030, 1032, 1034 and 1036 are eachhighly variable and in general are constructed and arranged to definethe four fields of view 1050, 1052, 1054 and 1056, respectively thatspan the width of an expanded field of view FOVW1. Adjacent fields ofview have appropriately sized overlap regions for reasons describedabove. That is, adjacent fields 1050 and 1052 define overlap regionOR1A, fields 1052 and 1056 define overlap region Or2A and fields 1056and 1054 define overlap region OR3A. The outer mirrors can be located athigher or lower positions vertically with respect to the optical axisOA1A. They reflect light from the scene into a “beam splitter” That canconsist of four stacked, angled and vertically tilted mirrors arrangedsimilarly to that of the FOVE described in FIGS. 1-4A. The resultingsplit image provides four stacked strips upon the sensor of the camera1010. In an embodiment, the strips divide the image of an M×N sensorinto a 4M×N/4 wide image. Desirably, the arrangement of the outermirrors and beam splitter mirrors allows each image strip to besubstantially aligned (along the horizontal plane) with the optical axisfor minimum distortion thereof.

This approach is effective so long as the line speed is slow enoughand/or the frame rate of the camera is high enough to ensure arelatively complete ID or other feature of interest can be acquired inthe relatively narrow-height strip of the expanded field of view.

In further alternate embodiments, an FOVE can be implemented using amoving mirror arrangement in optical communication with the cameraassembly. As shown in the schematic diagram of FIG. 11, a polygonal,rotating (curved arrow 1112) mirror 1110 can be employed to provide asequence of full resolution images across the width of the object havinga wider profile that the original field of view than the camera assembly1120. The rotation is along an axis 1116 generally perpendicular to thehorizontal plane of the field of view though the optical axis OA1B. Eachreflecting surface on the polygonal mirror is typically (but notnecessarily) substantially perpendicular to the horizontal plane andparallel to the axis of mirror rotation 1116. In general, a sequence ofimages 1130, 1132, 1134 is acquired in (for example) a sequence ofimages to be taken which look at neighboring regions of the overallwidth of the scene. In general, frame rate information 1140 can betransmitted from the camera assembly to synchronize operation of themirror drive motor 1150 under control of a motor control circuit 1160 ofappropriate configuration. For example, a stepper motor can be used toaccurate step through a sequence of positions that place each of themirror surfaces 1180 at an appropriate angular orientation to reflectback an optically aligned (i.e. aligned with the camera optical axisOA1B) image of a portion of the width. In an embodiment, the mirror hasa regular polygon shape and the angular orientation of each surface(angle ARM) varies upon acquisition of each image frame so as to achievea sequence of images across the width of the scene. In other words Frame1 is taken at a 38-degree relative angle ARM, frame 2 is taken at a 45degree relative angle ARM and frame 3 is taken at a 52 degree angle. Inanother embodiment, the polygon is irregular ad the motor steps stop atregular degree intervals, in synchronization with the frame rate so thateach step exposes a slightly differently angled face of the polygon tothe optical axis. This synchronization essentially generates anapproximately constant pattern of varied angular orientations in asequence. Each image can define an appropriate overlap region along anadjacent edge with another image, the size of which in the widthwisedirection is sufficient to ensure that an ID or other feature ofinterest fully resides within the overlap region of one of the images.The overall width of the field of view is highly variable. Each imagecan be independently search and analyzed for IDs or other featureswithout regard to other images in the sequence (i.e. free of the need tostitch together the overall image). Thus, the motion of the object inthe drive direction should not affect the ability of the system toresolve any IDs so long as the full width of the object can be imagedwhile an ID remains within the height of at least one of the images. Inanother embodiment, where the frame rate is sufficiently high, themirror can be slightly asynchronous with frame rate and a large sequenceof images at a number of differing orientations can be acquired in apossibly random sequence. In any embodiment, a boundary can limit themaximum field of view to the desired width so that only light from theobject within the defined field reaches the camera.

In another embodiment, an oscillating mirror (not shown) can be used asa “moving” mirror. The oscillating mirror can be a micro mirror thatmoves (rotates along an axis perpendicular to the horizontal plane)between different angular orientations with respect to the cameraoptical axis so that different portions of the overall field of view areimaged. The motion of the mirror can be synchronous or asynchronous withrespect to the object.

It should be clear that the FOVE according to the various embodimentsherein provides a desirable system and method for expanding a field ofview in a vision system that searches for, and analyzes, features ofinterest, such as barcodes/IDs, without loss of desired resolution. Theimplementation requires little or no modification to existing cameraoptics, hardware or software and is relatively straightforward toimplement in a production environment. Desirably, variousimplementations of the FOVE maximize the use of a conventional formatsensor by narrowing the effective height and widening the effectivewidth to a dimension more suited to scanning a wide, moving line.

The foregoing has been a detailed description of illustrativeembodiments of the invention. Various modifications and additions can bemade without departing from the spirit and scope of this invention.Features of each of the various embodiments described above may becombined with features of other described embodiments as appropriate inorder to provide a multiplicity of feature combinations in associatednew embodiments. Furthermore, while the foregoing describes a number ofseparate embodiments of the apparatus and method of the presentinvention, what has been described herein is merely illustrative of theapplication of the principles of the present invention. For example,while the features of interest described according to illustrativeembodiments are IDs/barcodes (e.g. any form/type of one-dimensional,two-dimensional, etc.), the principles of the embodiments herein can beused to analyze and process a variety of features of interest,including, but not limited to, various forms of printed or appliedfiducials, alphanumeric, graphical, numeric or other written characters,proof marks, and the like. In addition the principles herein can beemployed to analyze and process other forms of features that may occurperiodically across portions of an expanded width of a field of view.For example, while the FOVE according to various embodiments herein isdescribed as expanding the field of view of a scene in the horizontal orwidthwise direction, it is expressly contemplated that a field of viewcan be expanded by the FOVE in a vertical direction, or in an obliqueorientation between horizontal and vertical. Also while variousembodiments generate discrete strips on the sensor from associatedfields of view other geometric shapes are contemplated, so long as afeature can be fully imaged in at least one portion of the projectedfield. Likewise, the projected geometric features (e.g. strips) on thesensor need not be symmetrical with respect to each other in heightand/or width. Also, while the outer mirrors of the illustrative FOVE areshown as generally vertical, and the reflecting surfaces of the innermirrors of the beam splitter are shown with a slight vertical tilt, itis contemplated that the outer mirrors can define a vertical tilt in thealternative or both the outer and inner mirrors can define a verticaltilt as appropriate to generate the desired strips (or other geometricprojections) on the sensor. Likewise, while the strips are stacked“vertically” it is contemplated that a horizontal/side-by-side stackingof strips (or other geometric shapes) can occur at the sensor based upona projection of the imaged scene's multiple fields of view. Moreover,the term “process” or “processor” as used herein should be taken broadlyto include both hardware and software operations (and variouscombinations thereof) that can be performed with one or more of thedepicted functional blocks or divided in whole, or in part amongst thevarious depicted functional blocks. Accordingly, this description ismeant to be taken only by way of example, and not to otherwise limit thescope of this invention.

What is claimed is:
 1. A system for expanding a field of view of a scene imaged by a vision system camera having an image sensor, the system being constructed and arranged to search and analyze features of interest in the scene comprising: a first outer mirror oriented at an acute angle with respect to an optical axis of the camera and a second outer mirror oriented at an opposing acute angle with respect to an opposing side of the optical axis; and a beam splitter located forward of the first outer mirror and the second outer mirror in a direction taken from the vision system camera, the beam splitter including a first reflecting surface and a second reflecting surface wherein the first outer mirror and first reflecting surface are arranged to direct a first field of view from the scene along the optical axis to the sensor and the second outer mirror and second reflecting surface are arranged to direct a second field of view from the scene along the optical axis to the sensor, wherein the first field of view is at least in part separated from the second field of view at the scene along a horizontal direction, and wherein the first outer mirror, the second outer mirror and the beam splitter are arranged to project each of the first field of view and the second field of view in a vertically stacked relationship of strips at the sensor.
 2. The system as set forth in claim 1 wherein the first outer mirror and the second outer mirror are positioned at offset vertical positions.
 3. The system as set forth in claim 2 wherein the first reflecting surface is arranged with a first vertical tilt and the second reflecting surface is arranged with a second, opposing, vertical tilt.
 4. The system as set forth in claim 3 wherein the first reflecting surface and the second reflecting surface define crossing mirrors stacked vertically and defining an approximate crossing line passing approximately through the optical axis.
 5. The system as set forth in claim 1 wherein the first field of view and the second field of view overlap by a predetermined overlap distance along the horizontal direction.
 6. The system as set forth in claim 5 wherein the predetermined overlap distance is at least as large as a largest feature of interest along the horizontal direction to be searched by the vision system camera.
 7. The system as set forth in claim 6 wherein the feature of interest is a symbology code, the system further comprising a symbology code decoding system that receives information related to located symbology codes from the vision system camera and outputs code data to a further interconnected process.
 8. The system as set forth in claim 7 wherein the symbology code is located on an object moving on a conveyor through the scene.
 9. The system as set forth in claim 8 wherein the symbology code comprises a one-dimensional barcode approximately oriented in the horizontal direction on an object.
 10. The system as set forth in claim 1 wherein the sensor defines a predetermined M (width)×N (height) pixel resolution that compresses a roughly square geometry.
 11. The system as set forth in claim 10 wherein the M (width)×N (height) pixel resolution defines at least one of 1024×768 pixels, 2048×384 pixels and 2048×768 pixels.
 12. A system for expanding a field of view of a scene imaged by a vision system camera having an image sensor, the system being constructed and arranged to search and analyze features of interest in the scene comprising: the vision system camera defining an optical axis and a vision system processor that causes the sensor to acquire a plurality of image frames at a predetermined frame rate; a moving mirror projecting light from the scene to the vision system camera along the optical axis; a drive operating relative to the frame rates that is driven to vary an angular orientation with respect to the optical axis relative to the frame rate so that image frames are acquired with the moving mirror positioned at a plurality of varying angular orientations with respect to the optical axis, the acquired image frames collectively imaging an area in a horizontal direction that is greater than an area in the horizontal direction imaged in a single one of the image frames; and a search application that locates the features of interest in the image frames and outputs data based on the features of interest.
 13. The system as set forth in claim 12 wherein the sensor defines a predetermined M (width)×N (height) pixel resolution that compresses a roughly square geometry.
 14. The system as set forth in claim 12 wherein the moving mirror comprises a rotating polygonal mirror with a plurality of reflecting surfaces in which an axis of rotation and is oriented approximately perpendicular to a horizontal plane taken through an optical axis.
 15. The system as set forth in claim 14 wherein the drive is either one of (a) synchronous with the frame rate to provide an approximately constant pattern of varying angular orientations and (b) asynchronous relative to the frame rate.
 16. The system as set forth in claim 12 wherein the features of interest comprise barcodes on an object in a moving line.
 17. The system as set forth in claim 16 wherein the barcodes are one-dimensional type barcodes extending in an approximate orientation along the horizontal direction.
 18. A method for expanding a field of view of a scene imaged by a camera of a vision system, the camera having an image sensor, and the system being constructed and arranged to search and analyze features of interest in the scene comprising the steps of: directing light from the scene through a first outer mirror oriented at an acute angle with respect to an optical axis of the camera and a second outer mirror oriented at an opposing acute angle with respect to an opposing side of the optical axis; and with a beam splitter located forward of the first outer mirror and the second outer mirror in a direction taken from the vision system camera, the beam splitter including a first reflecting surface and a second reflecting surface, projecting a first field of view from the scene through the first outer mirror, to the first reflecting surface, and then along the optical axis to the sensor and projecting a second field of view from the scene through the second outer mirror, to second reflecting surface, and then along the optical axis to the sensor, wherein the step of projecting the first field of view and the step of projecting the second field of view includes separating the first field of view at least in part from the second field of view relative to the scene along a horizontal direction, and projecting a stacked relationship of strips that respectively define the first field of view and the second field of view at the sensor.
 19. The method as set forth in claim 18 wherein the step of separating first field of view and the second field of view overlap by a predetermined overlap distance along the horizontal direction.
 20. The method as set forth in claim 19 wherein the predetermined overlap distance is at least as large as a largest feature of interest along the horizontal direction to be searched by the vision system camera.
 21. The method as set forth in claim 20 further comprising, with a vision system application, searching and analyzing an overall image from the sensor, and locating from the overall image, the features of interest therein free of stitching together image information from the strips.
 22. The method as set forth in claim 18 wherein the step of projecting the stacked relationship includes stacking the strips vertically at the sensor.
 23. The method as set forth in claim 18 wherein the features of interest comprise symbology codes located on an object moving relative to the scene.
 24. The method as set forth in claim 23 wherein at least one of the symbology codes comprises a one-dimensional-type barcode oriented to extend approximately along the horizontal direction. 